// Copyright 2021 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <memory>

#include "br2_tf2_detector/ObstacleDetectorImprovedNode.hpp"
#include "br2_tf2_detector/ObstacleMonitorNode.hpp"

#include "rclcpp/rclcpp.hpp"

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);

  auto obstacle_detector = std::make_shared<br2_tf2_detector::ObstacleDetectorImprovedNode>();
  auto obstacle_monitor = std::make_shared<br2_tf2_detector::ObstacleMonitorNode>();

  rclcpp::executors::SingleThreadedExecutor executor;
  executor.add_node(obstacle_detector->get_node_base_interface());
  executor.add_node(obstacle_monitor->get_node_base_interface());

  executor.spin();

  rclcpp::shutdown();
  return 0;
}
